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自动化学报（英文版）
中国自动化学会、中国科学院自动化研究所、中国科技出版传媒股份有限公司
自动化学报（英文版）

中国自动化学会、中国科学院自动化研究所、中国科技出版传媒股份有限公司

双月刊

2329-9266

yan.ou@ia.ac.cn

010-82544459

自动化学报（英文版）/Journal IEEE/CAA Journal of Automatica SinicaCSCDCSTPCD北大核心SCI
查看更多>>《自动化学报》（英文版），刊名为 IEEE/CAA Journal of Automatica Sinica (JAS)，创刊于2014年，由中国自动化学会、中国科学院自动化研究所主办，与IEEE合作，报道自动控制、人工智能、机器人等领域热点和前沿方向的研究成果。JAS被SCI, EI, Scopus等数据库收录，是ESI刊源期刊，也是自动化与控制系统领域唯一的中国主办Q1区SCI期刊。2019年首个JCR影响因子5.129，在自动化与控制领域全球63种SCI期刊中排名第11（前17%），位列Q1区。2019年CiteScore为8.3，位于所属各领域Q1区前列；国内外综合他引影响因子为6.688，在自动化、计算机领域的中国英文期刊中排名第1。
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    Dynamic Constraint-Driven Event-Triggered Con-trol of Strict-Feedback Systems Without Max/Min Values on Irregular Constraints

    Zhuwu ShaoYujuan WangZeqiang LiYongduan Song...
    569-580页
    查看更多>>摘要：This work proposes an event-triggered adaptive control approach for a class of uncertain nonlinear systems under irregular constraints.Unlike the constraints considered in most existing papers,here the external irregular constraints are con-sidered and a constraints switching mechanism(CSM)is intro-duced to circumvent the difficulties arising from irregular output constraints.Based on the CSM,a new class of generalized barrier functions are constructed,which allows the control results to be independent of the maximum and minimum values(MMVs)of constraints and thus extends the existing results.Finally,we proposed a novel dynamic constraint-driven event-triggered strategy(DCDETS),under which the stress on signal transmission is reduced greatly and no constraints are violated by making a dynamic trade-off among system state,external constraints,and inter-execution intervals.It is proved that the system output is driven to close to the reference trajectory and the semi-global stability is guaranteed under the proposed control scheme,regardless of the external irregular output constraints.Simula-tion also verifies the effectiveness and benefits of the proposed method.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
    • 万方数据

    A Dual Closed-Loop Digital Twin Construction Method for Optimizing the Copper Disc Casting Process

    Zhaohui JiangChuan XuJinshi LiuWeichao Luo...
    581-594页
    查看更多>>摘要：The copper disc casting machine is core equipment for producing copper anode plates in the copper metallurgy industry.The copper disc casting machine casting package motion curve(CPMC)is significant for precise casting and effi-cient production.However,the lack of exact casting modeling and real-time simulation information severely restricts dynamic CPMC optimization.To this end,a liquid copper droplet model describes the casting package copper flow pattern in the casting process.Furthermore,a CPMC optimization model is proposed for the first time.On top of this,a digital twin dual closed-loop self-optimization application framework(DT-DCS)is con-structed for optimizing the copper disc casting process to achieve self-optimization of the CPMC and closed-loop feedback of man-ufacturing information during the casting process.Finally,a case study is carried out based on the proposed methods in the indus-trial field.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
    • 万方数据

    Adaptive Optimal Output Regulation of Intercon-nected Singularly Perturbed Systems With Application to Power Systems

    Jianguo ZhaoChunyu YangWeinan GaoLinna Zhou...
    595-607页
    查看更多>>摘要：This article studies the adaptive optimal output reg-ulation problem for a class of interconnected singularly per-turbed systems(SPSs)with unknown dynamics based on rein-forcement learning(RL).Taking into account the slow and fast characteristics among system states,the interconnected SPS is decomposed into the slow time-scale dynamics and the fast time-scale dynamics through singular perturbation theory.For the fast time-scale dynamics with interconnections,we devise a decentral-ized optimal control strategy by selecting appropriate weight matrices in the cost function.For the slow time-scale dynamics with unknown system parameters,an off-policy RL algorithm with convergence guarantee is given to learn the optimal control strategy in terms of measurement data.By combining the slow and fast controllers,we establish the composite decentralized adaptive optimal output regulator,and rigorously analyze the sta-bility and optimality of the closed-loop system.The proposed decomposition design not only bypasses the numerical stiffness but also alleviates the high-dimensionality.The efficacy of the proposed methodology is validated by a load-frequency control application of a two-area power system.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
    • 万方数据

    Sequential Inverse Optimal Control of Discrete-Time Systems

    Sheng CaoZhiwei LuoChangqin Quan
    608-621页
    查看更多>>摘要：This paper presents a novel sequential inverse opti-mal control(SIOC)method for discrete-time systems,which cal-culates the unknown weight vectors of the cost function in real time using the input and output of an optimally controlled dis-crete-time system.The proposed method overcomes the limita-tions of previous approaches by eliminating the need for the invertible Jacobian assumption.It calculates the possible-solution spaces and their intersections sequentially until the dimension of the intersection space decreases to one.The remaining one-dimensional vector of the possible-solution space's intersection represents the SIOC solution.The paper presents clear condi-tions for convergence and addresses the issue of noisy data by clarifying the conditions for the singular values of the matrices that relate to the possible-solution space.The effectiveness of the proposed method is demonstrated through simulation results.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
    • 万方数据

    More Than Lightening:A Self-Supervised Low-Light Image Enhancement Method Capable for Multiple Degradations

    Han XuJiayi MaYixuan YuanHao Zhang...
    622-637页
    查看更多>>摘要：Low-light images suffer from low quality due to poor lighting conditions,noise pollution,and improper settings of cameras.To enhance low-light images,most existing methods rely on normal-light images for guidance but the collection of suitable normal-light images is difficult.In contrast,a self-supervised method breaks free from the reliance on normal-light data,resulting in more convenience and better generalization.Existing self-supervised methods primarily focus on illumination adjust-ment and design pixel-based adjustment methods,resulting in remnants of other degradations,uneven brightness and artifacts.In response,this paper proposes a self-supervised enhancement method,termed as SLIE.It can handle multiple degradations including illumination attenuation,noise pollution,and color shift,all in a self-supervised manner.Illumination attenuation is estimated based on physical principles and local neighborhood information.The removal and correction of noise and color shift removal are solely realized with noisy images and images with color shifts.Finally,the comprehensive and fully self-supervised approach can achieve better adaptability and generalization.It is applicable to various low light conditions,and can reproduce the original color of scenes in natural light.Extensive experiments conducted on four public datasets demonstrate the superiority of SLIE to thirteen state-of-the-art methods.Our code is available at https://github.com/hanna-xu/SLIE.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
    • 万方数据

    Set-Membership Filtering Approach to Dynamic Event-Triggered Fault Estimation for a Class of Nonlinear Time-Varying Complex Networks

    Xiaoting DuLei ZouMaiying Zhong
    638-648页
    查看更多>>摘要：The present study addresses the problem of fault estimation for a specific class of nonlinear time-varying complex networks,utilizing an unknown-input-observer approach within the framework of dynamic event-triggered mechanism(DETM).In order to optimize communication resource utilization,the DETM is employed to determine whether the current measure-ment data should be transmitted to the estimator or not.To guar-antee a satisfactory estimation performance for the fault signal,an unknown-input-observer-based estimator is constructed to decouple the estimation error dynamics from the influence of fault signals.The aim of this paper is to find the suitable estima-tor parameters under the effects of DETM such that both the state estimates and fault estimates are confined within two sets of closed ellipsoid domains.The techniques of recursive matrix inequality are applied to derive sufficient conditions for the exis-tence of the desired estimator,ensuring that the specified perfor-mance requirements are met under certain conditions.Then,the estimator gains are derived by minimizing the ellipsoid domain in the sense of trace and a recursive estimator parameter design algorithm is then provided.Finally,a numerical example is con-ducted to demonstrate the effectiveness of the designed estimator.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
    • 万方数据

    Dynamic Event-Triggered Consensus Control for Input Constrained Multi-Agent Systems With a Designable Minimum Inter-Event Time

    Meilin LiYue LongTieshan LiHongjing Liang...
    649-660页
    查看更多>>摘要：This paper investigates the consensus control of multi-agent systems(MASs)with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first designed.Then,a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale networks.It is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phe-nomenon is eliminated by a designable minimum inter-event time.In addition,it is easier to find a trade-off between the conver-gence rate and the minimum inter-event time by an adjustable parameter.Furthermore,the results are extended to regional consensus of the MASs with the bounded control protocol.Numerical simulations show the effectiveness of the proposed approach.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
    • 万方数据

    A Novel Disturbance Observer Based Fixed-Time Sli-ding Mode Control for Robotic Manipulators With Global Fast Convergence

    Dan ZhangJiabin HuJun ChengZheng-Guang Wu...
    661-672页
    查看更多>>摘要：This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO)is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO)is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM)surface is designed by using an arctan function,which helps to overcome the singularity prob-lem and enhance the robustness of the system.Based on the esti-mation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM)algorithm is vali-dated on a 2-link manipulator and comparisons with other exist-ing sliding mode controllers(SMCs)are performed.The compar-ative results confirm that the FTNFTSMC has superior control performance.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
    • 万方数据

    Depth-Guided Vision Transformer With Normal-izing Flows for Monocular 3D Object Detection

    Cong PanJunran PengZhaoxiang Zhang
    673-689页
    查看更多>>摘要：Monocular 3D object detection is challenging due to the lack of accurate depth information.Some methods estimate the pixel-wise depth maps from off-the-shelf depth estimators and then use them as an additional input to augment the RGB images.Depth-based methods attempt to convert estimated depth maps to pseudo-LiDAR and then use LiDAR-based object detectors or focus on the perspective of image and depth fusion learning.However,they demonstrate limited performance and efficiency as a result of depth inaccuracy and complex fusion mode with con-volutions.Different from these approaches,our proposed depth-guided vision transformer with a normalizing flows(NF-DVT)network uses normalizing flows to build priors in depth maps to achieve more accurate depth information.Then we develop a novel Swin-Transformer-based backbone with a fusion module to process RGB image patches and depth map patches with two separate branches and fuse them using cross-attention to exchange information with each other.Furthermore,with the help of pixel-wise relative depth values in depth maps,we develop new relative position embeddings in the cross-attention mecha-nism to capture more accurate sequence ordering of input tokens.Our method is the first Swin-Transformer-based backbone archi-tecture for monocular 3D object detection.The experimental results on the KITTI and the challenging Waymo Open datasets show the effectiveness of our proposed method and superior per-formance over previous counterparts.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
    • 万方数据

    Value Iteration-Based Cooperative Adaptive Optimal Control for Multi-Player Differential Games With Incomplete Information

    Yun ZhangLulu ZhangYunze Cai
    690-697页
    查看更多>>摘要：This paper presents a novel cooperative value itera-tion(VI)-based adaptive dynamic programming method for multi-player differential game models with a convergence proof.The players are divided into two groups in the learning process and adapt their policies sequentially.Our method removes the dependence of admissible initial policies,which is one of the main drawbacks of the PI-based frameworks.Furthermore,this algo-rithm enables the players to adapt their control policies without full knowledge of others'system parameters or control laws.The efficacy of our method is illustrated by three examples.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
    • 万方数据